CN110948511B - Alternative marching type robot feedway - Google Patents
Alternative marching type robot feedway Download PDFInfo
- Publication number
- CN110948511B CN110948511B CN201811122007.5A CN201811122007A CN110948511B CN 110948511 B CN110948511 B CN 110948511B CN 201811122007 A CN201811122007 A CN 201811122007A CN 110948511 B CN110948511 B CN 110948511B
- Authority
- CN
- China
- Prior art keywords
- flexible
- auxiliary
- main
- cam
- concave part
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
Abstract
The invention relates to an alternative stepping type robot feeding device.A rotary cylinder is arranged on a base through a cylindrical pair, one ends of a flexible main large arm and a flexible auxiliary large arm are respectively connected with the rotary cylinder and driven by the rotary cylinder to synchronously and reversely rotate, one ends of a flexible main small arm and a flexible auxiliary small arm are respectively connected with the other ends of the flexible main large arm and the flexible auxiliary large arm in a rotating way, and the other ends of the flexible main small arm and the flexible auxiliary small arm are respectively connected with an end effector through an alternative stepping type wrist joint; the other ends of the flexible main small arm and the flexible auxiliary small arm are synchronously coupled through a synchronous gear mechanism, the other ends of the flexible main small arm and the flexible auxiliary small arm are respectively connected with the end effector through spherical hinges, and a cam which enables the end effector to linearly move relative to the base is arranged on the outer side of each spherical hinge. The invention can prevent the end effector of the manipulator from tilting vibration, effectively inhibit vibration, improve the beat of products and the stabilization time of a system, and ensure that the whole machine has safety protection.
Description
Technical Field
The invention relates to a robot joint mechanism in the Integrated Circuit (IC) industry, in particular to an alternative stepping type robot feeding device.
Background
The general configuration of the arm of the vacuum manipulator in the vacuum machine table is a horizontal joint type. At present, economic optimization is the key direction of subsequent research and development on the premise that the manipulator of a vacuum machine table meets the function. Due to the continuous maturity of technologies such as nonlinear finite analysis, topological optimization and the like, the lightweight of an arm mechanism becomes possible; therefore, the wrist part of the robot feeding device needs an alternate stepping mechanism to hopefully compensate the nonlinear flexible deformation of the manipulator structure.
Disclosure of Invention
The invention aims to provide an alternate stepping type robot feeding device in order to meet the requirement of lightweight robot arms.
The purpose of the invention is realized by the following technical scheme:
the invention comprises a base, a rotary cylinder, a flexible main large arm, a flexible main small arm, a flexible auxiliary large arm, a flexible auxiliary small arm, an alternative stepping wrist joint and an end effector, wherein the rotary cylinder is arranged on the base through a cylindrical pair; the alternative stepping type wrist joint comprises a synchronous gear mechanism, spherical hinges and a cam, the other ends of the flexible main small arm and the flexible auxiliary small arm are synchronously coupled through the synchronous gear mechanism, the other ends of the flexible main small arm and the flexible auxiliary small arm are respectively connected with the end effector through the spherical hinges, and the outer side of each spherical hinge is provided with the cam which enables the end effector to linearly move relative to the base;
wherein: the cam comprises a cam concave part and a cam upright post, the other end of the flexible main small arm corresponds to a main cam concave part, the other end of the flexible auxiliary small arm corresponds to an auxiliary cam concave part, the main cam concave part and the auxiliary cam concave part are respectively arranged on the end effector, the cam upright post arranged on the synchronous gear mechanism is respectively arranged below the main cam concave part and the auxiliary cam concave part, the cam upright post rotates along with the synchronous gear mechanism, and the upper end of the cam upright post is always abutted against the lower end faces of the main cam concave part and the auxiliary cam concave part in the rotating process;
the lower end surfaces of the main cam concave part and the auxiliary cam concave part are both curved surfaces, the upper end of the cam upright post is arc-shaped, the arc-shaped upper end of the cam upright post rotates along the lower end surfaces of the main cam concave part and the auxiliary cam concave part in the rotating process of the synchronous gear mechanism and is always abutted against the lower end surfaces of the main cam concave part and the auxiliary cam concave part, so that the end effector and the loaded load can linearly move relative to the base;
the height of the lower end surfaces of the main cam concave part and the auxiliary cam concave part, which is close to one side of the rotary cylinder, is higher than that of the lower end surface of the auxiliary cam concave part, which is far away from the other side of the rotary cylinder;
the spherical hinge comprises spherical hinge shafts and spherical hinge protruding ends, the other ends of the flexible main small arm and the flexible auxiliary small arm are respectively provided with the spherical hinge shafts, the positions, corresponding to the two spherical hinge shafts, on the end effector are respectively provided with the spherical hinge protruding ends, and each spherical hinge protruding end is connected with the corresponding spherical hinge shaft to form a spherical hinge;
the synchronous gear mechanism is an anti-backlash gear and comprises a main anti-backlash gear, an auxiliary anti-backlash forward end gear and an auxiliary anti-backlash reverse end gear, the main anti-backlash gear is arranged on a spherical hinge shaft at the other end of the flexible main small arm, the auxiliary anti-backlash forward end gear and the auxiliary anti-backlash reverse end gear are both arranged on a spherical hinge shaft at the other end of the flexible auxiliary small arm, and the auxiliary anti-backlash forward end gear and the auxiliary anti-backlash reverse end gear are both meshed with the main anti-backlash gear.
The invention has the advantages and positive effects that:
1. the invention can prevent the end effector of the manipulator from tilting vibration, effectively inhibit vibration, improve the beat of products and the stabilization time of a system, and ensure that the whole machine has safety protection.
2. The flexible main small arm and the flexible auxiliary small arm are connected with the end effector through the alternate stepping type wrist joint, so that the whole machine is light in weight and small in size, the mass production economy is better, the product competitiveness is stronger, the power of a direct drive motor is reduced, and the purposes of energy conservation and environmental protection are achieved.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a front view of the structure of the present invention;
FIG. 3 is a top view of the structure of the present invention;
FIG. 4 is a second schematic perspective view of the present invention;
FIG. 5 is an enlarged view of a portion A of FIG. 1;
FIG. 6 is one of the exploded views of the present invention;
FIG. 7 is a partial enlarged view of the portion B in FIG. 6;
FIG. 8 is an exploded view of the second aspect of the present invention;
FIG. 9 is an enlarged view of a portion of FIG. 8 at C;
wherein: the device comprises a base 1, a rotating cylinder 2, a flexible main large arm 3, a flexible main small arm 4, a spherical hinge 5, a spherical hinge shaft 501, a spherical hinge protruding end 502, a cam 6, a main cam concave part 601, an auxiliary cam concave part 602, a cam column 603, an end effector 7, a load 8, a flexible auxiliary small arm 9, a flexible auxiliary large arm 10, a main anti-backlash gear 11, an auxiliary anti-backlash forward end gear 12 and an auxiliary anti-backlash reverse end gear 13.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The alternative stepping robot feeding device of the invention can carry the load 8 to carry under vacuum environment. As shown in fig. 1 to 9, the present invention includes a base 1, a rotary cylinder 2, a flexible main large arm 3, a flexible main small arm 4, a flexible auxiliary large arm 10, a flexible auxiliary small arm 9, an alternate stepping wrist joint, and an end effector 7, wherein the rotary cylinder 2 is mounted on the base 1 through a cylindrical pair, the base 1 is stationary, and the rotary cylinder 2 can perform lifting linear motion and rotary motion in the Y-axis direction relative to the base 1; one end of the flexible main large arm 3 and one end of the flexible auxiliary large arm 10 are respectively connected with the rotary cylinder 2 (the space hinge connection is adopted in the embodiment), the rotary cylinder 2 drives the synchronous reverse rotation, one end of the flexible main small arm 4 and one end of the flexible auxiliary small arm 9 are respectively connected with the other end of the flexible main large arm 3 and the other end of the flexible auxiliary large arm 10 in a rotating manner (the space hinge connection is adopted in the embodiment), and the other ends of the flexible main small arm 4 and the flexible auxiliary small arm 9 are respectively connected with the end effector 7 through the alternative stepping type wrist joint.
The alternative stepping type wrist joint comprises a synchronous gear mechanism, spherical hinges 5 and a cam 6, the other ends of the flexible main small arm 4 and the flexible auxiliary small arm 9 are synchronously coupled through the synchronous gear mechanism, the other ends of the flexible main small arm 4 and the flexible auxiliary small arm 9 are respectively connected with an end effector 7 through the spherical hinges 5, and the cam 6 enabling the end effector 7 to linearly move relative to the base 1 is arranged on the outer side of each spherical hinge 5.
The cam 6 of the present invention includes a cam concave portion and a cam column 603, the other end of the flexible main arm 4 corresponds to the main cam concave portion 601, the other end of the flexible sub arm 9 corresponds to the sub cam concave portion 602, the main cam concave portion 601 and the sub cam concave portion 602 are respectively mounted on the end effector 7, the lower end surfaces of the main cam concave portion 601 and the sub cam concave portion 602 are both curved surfaces, and the height of the lower end surfaces of the main cam concave portion 601 and the sub cam concave portion 602 on the side close to the rotary cylinder 2 is higher than the height of the lower end surfaces of the main cam concave portion 601 and the sub cam concave portion 602 on the side far from the rotary cylinder 2. A cam post 603 attached to the synchromesh gear mechanism is provided below the main cam concave portion 601 and the sub cam concave portion 602, and an upper end of the cam post 603 is arc-shaped and rotates along with the synchromesh gear mechanism, and during the rotation, an arc-shaped upper end of the cam post 603 rotates along lower end surfaces of the main cam concave portion 601 and the sub cam concave portion 602 and is always in contact with the lower end surfaces of the main cam concave portion 601 and the sub cam concave portion 602, and the end effector 7 and the load 8 to be loaded are linearly moved relative to the base 1.
The spherical hinge 5 comprises a spherical hinge shaft 501 and spherical hinge protruding ends 502, the spherical hinge shafts 501 are respectively installed at the other ends of the flexible main small arm 4 and the flexible auxiliary small arm 9, the spherical hinge protruding ends 502 are respectively fixedly connected to the positions, corresponding to the two spherical hinge shafts 501, on the end effector 7, and each spherical hinge protruding end 502 is connected with the corresponding spherical hinge shaft 501 to form the spherical hinge 5.
The synchronous gear mechanism is an anti-backlash gear, and comprises a main anti-backlash gear 11, an auxiliary anti-backlash forward end gear 12 and an auxiliary anti-backlash reverse end gear 13, wherein the main anti-backlash gear 11 is arranged on a spherical hinge shaft 501 at the other end of a flexible main small arm 4, the auxiliary anti-backlash forward end gear 12 and the auxiliary anti-backlash reverse end gear 13 are arranged on the spherical hinge shaft 501 at the other end of a flexible auxiliary small arm 9 and are arranged up and down, the auxiliary anti-backlash reverse end gear 13 is positioned on the auxiliary anti-backlash forward end gear 12, and the auxiliary anti-backlash forward end gear 12 and the auxiliary anti-backlash reverse end gear 13 are meshed with the main anti-backlash gear 11. The invention relates to an anti-backlash gear which is in the prior art, wherein a secondary anti-backlash forward end gear 12 and a secondary anti-backlash reverse end gear 13 are respectively provided with a lug, one end of a tension spring is hooked on the lug, the other end of the tension spring is hooked on a fixed screw, and a nut is used for adjusting the extension length and locking of the screw. The cam columns 603 of the two cams 6 are respectively arranged on the main anti-backlash gear 11 and the auxiliary anti-backlash reverse end gear 13.
The end effector 7 of the present invention is a fork-shaped base 701, the fork-shaped end of the fork-shaped base 701 can perform static friction lifting on the load 8, and the tail end of the fork-shaped base 701 is respectively fixedly connected with the main cam concave part 601 and the auxiliary cam concave part 602.
The working principle of the invention is as follows:
in the process that the alternating stepping type robot feeding device carries a load 8 to be far away from or close to the base 1, due to the action of a gravity field, the overturning moments borne by the flexible main large arm 3 and the flexible main small arm 4 are different, and the axis of the alternating stepping type wrist joint formed by connecting the flexible main small arm 4 and the end effector 7 can generate the inclination and swing of the axis of the alternating stepping type wrist joint formed by connecting the flexible main small arm 4 and the end effector 7 relative to the axis of the base 1 due to the nonlinear deformation of the flexible main large arm 3 and the flexible main small arm 4.
In the process of carrying the load 8 to be far away from and close to the base 1, the synchronous passive compensation is carried out on the stepping wrist joint alternately, so that the purpose that the load 8 and the end effector 7 do linear motion relative to the base 1 and do not tilt in the process of carrying the load 8 to be far away from and close to the base 1 is achieved. In the process of carrying the load 8 to approach the base 1 and moving in the negative direction of the X-axis (horizontal direction in fig. 1), the alternating step wrist joint has a ball hinge connection between the ball hinge shaft 501 and the ball hinge protruding end 502. The flexible main small arm 4 and the flexible auxiliary small arm 9 are subjected to the coupling of the reduction degree of freedom through a synchronous gear mechanism. A main anti-backlash gear 11 and a flexible main small arm 4 in the synchronous gear mechanism can rotate relatively, the main anti-backlash gear 11 synchronously couples the forward direction with the flexible auxiliary small arm 9 through a gear pair with an auxiliary anti-backlash forward end gear 12, and the main anti-backlash gear 11 synchronously couples the reverse direction with the flexible auxiliary small arm 9 through a gear pair with an auxiliary anti-backlash reverse end gear 13. The spherical hinge shaft 501 and the convex end 502 of the spatial spherical hinge are connected by the spatial spherical hinge, six spatial degrees of freedom of the base 1 and the end effector 7 are reduced by five degrees of freedom, and the five degrees of freedom are respectively three movements, rotation in the Y-axis direction, side turning in the X-axis direction and tilting in the Z-axis direction. The cam contact pair and the external force field control Z-direction tilting swing, the cam contact pair comprises a cam contact pair A and a cam contact pair B, the cam contact pair A consists of a main cam concave part 601 and one spherical hinge convex end 502, and the cam contact pair B on the other symmetrical side consists of an auxiliary cam concave part 602 and the other spherical hinge convex end 502. In the process of moving in the negative direction of the X axis, the gravity overturning moment of the load 8 and the end effector 7, the contact force of the cam contact pair A, the contact force of the cam contact pair B, the spherical hinge shaft contact force of the end effector 7 and the flexible pair small arm 9, and the spherical hinge shaft 5 contact force of the end effector 7 and the flexible main small arm 4 sum to five space force dynamic space convergence, so that the load 8 and the end effector 7 move linearly relative to the base 1 in the process of carrying the load 8 to approach the base 1. The contact motion trail of the cam contact pair A and the cam contact pair B is just dynamically compensated, the overturning moments borne by the flexible main large arm 3 and the flexible main small arm 4 are different due to the action of a gravity field in the process of carrying the load 8 to approach the base 1, and the axis of the alternate stepping wrist joint formed by connecting the flexible main small arm 4 and the end effector 7 tilts relative to the axis of the base 1 due to the nonlinear deformation of the flexible main large arm 3 and the flexible main small arm 4, so that the load 8 and the end effector 7 linearly move relative to the base 1 in the process of carrying the load 8 to approach the base 1. In the process of carrying a load 8 to approach the base 1, in the process of moving along the negative direction of the X axis, the overturning moment borne by the flexible main big arm 3 and the flexible main small arm 4 is gradually changed, so that the non-linear deformation of the flexible main big arm 3 and the flexible main small arm 4 is generated, the downward concave bending line formed by the flexible main big arm 3 and the flexible main small arm 4 tends to be reduced, and the relative overturning angle of the axis of the alternating stepping wrist joint formed by the flexible main big arm 4 and the end effector 7 relative to the axis of the base 1 tends to be reduced. The principle of the linear motion of the load 8 and the end effector 7 relative to the base 1 in the process of carrying the load 8 away from the base 1 is the same as the principle of the dynamic process of approaching, so the description is omitted.
According to the alternate stepping type wrist joint, the flexible main large arm 3 and the flexible main small arm 4 can be lightened and miniaturized, and the flattened flexible main large arm 3 and the flattened flexible main small arm 4 are smaller in size in the Y-axis (vertical direction in the figure 1) direction, so that the alternate stepping type wrist joint is better in economic type of mass production, stronger in product competitive strength, capable of reducing the power of a direct drive motor and capable of achieving the purposes of saving energy and protecting environment. The alternating stepping type wrist joint can prevent the load 8 and the end effector 7 from inclining and swinging, effectively inhibit vibration and improve the beat of a product and the stabilization time of a system. The alternating stepping type wrist joint can prevent the load 8 and the end effector 7 from colliding, so that the damage to the wrist joint is caused, and the whole wrist joint is safely protected.
Claims (3)
1. The utility model provides an alternative marching type robot feedway which characterized in that: comprises a base (1), a rotary cylinder (2), a flexible main big arm (3), a flexible main small arm (4), a flexible auxiliary big arm (10), a flexible auxiliary small arm (9), an alternate stepping wrist joint and an end effector (7), wherein the rotary cylinder (2) is arranged on the base (1) through a cylindrical pair, one end of the flexible main large arm (3) and one end of the flexible auxiliary large arm (10) are respectively connected with the rotary cylinder (2) and driven by the rotary cylinder (2) to realize synchronous reverse rotation of the flexible main large arm (3) and the flexible auxiliary large arm (10), one end of the flexible main small arm (4) is rotatably connected with the other end of the flexible main large arm (3), one end of the flexible auxiliary small arm (9) is rotationally connected with the other end of the flexible auxiliary large arm (10), the other ends of the flexible main small arm (4) and the flexible auxiliary small arm (9) are respectively connected with an end effector (7) through an alternate stepping wrist joint; the alternating stepping wrist joint comprises a synchronous gear mechanism, spherical hinges (5) and a cam (6), the other ends of the flexible main small arm (4) and the flexible auxiliary small arm (9) are synchronously coupled through the synchronous gear mechanism, the other ends of the flexible main small arm (4) and the flexible auxiliary small arm (9) are respectively connected with an end effector (7) through the spherical hinges (5), and the outer side of each spherical hinge (5) is provided with the cam (6) which enables the end effector (7) to linearly move relative to the base (1);
the cam (6) comprises a cam concave part and a cam post (603), the cam concave part is divided into a main cam concave part (601) and a secondary cam concave part (602), the other end of the flexible main small arm (4) is correspondingly a main cam concave part (601), the other end of the flexible auxiliary small arm (9) is correspondingly an auxiliary cam concave part (602), the main cam concave part (601) and the auxiliary cam concave part (602) are respectively arranged on the end effector (7), a cam post 603 mounted on the synchromesh gear mechanism is provided below the main cam concave part 601 and the sub cam concave part 602, the cam column (603) rotates along with the step gear mechanism, and in the rotating process, the upper end of the cam column (603) is always abutted against the lower end faces of the main cam concave part (601) and the auxiliary cam concave part (602), so that the end effector (7) and the borne load (8) move linearly relative to the base (1);
the spherical hinge (5) comprises spherical hinge shafts (501) and spherical hinge protruding ends (502), the spherical hinge shafts (501) are respectively installed at the other ends of the flexible main small arm (4) and the flexible auxiliary small arm (9), the spherical hinge protruding ends (502) are respectively arranged at positions, corresponding to the two spherical hinge shafts (501), on the end effector (7), and each spherical hinge protruding end (502) is connected with the corresponding spherical hinge shaft (501);
the synchronous gear mechanism is an anti-backlash gear and comprises a main anti-backlash gear (11), an auxiliary anti-backlash forward end gear (12) and an auxiliary anti-backlash reverse end gear (13), wherein the main anti-backlash gear (11) is arranged on a spherical hinge shaft (501) at the other end of the flexible main small arm (4), the auxiliary anti-backlash forward end gear (12) and the auxiliary anti-backlash reverse end gear (13) are both arranged on the spherical hinge shaft (501) at the other end of the flexible auxiliary small arm (9), and the auxiliary anti-backlash forward end gear (12) and the auxiliary anti-backlash reverse end gear (13) are both meshed with the main anti-backlash gear (11).
2. The alternative step robot feeder of claim 1, further comprising: the lower end surfaces of the main cam concave part (601) and the auxiliary cam concave part (602) are both curved surfaces, the upper end of the cam upright post (603) is arc-shaped, the arc-shaped upper end of the cam upright post (603) rotates along the lower end surfaces of the main cam concave part (601) and the auxiliary cam concave part (602) in the process of rotating along with the synchronous gear mechanism, and is always abutted against the lower end surfaces of the main cam concave part (601) and the auxiliary cam concave part (602).
3. The feed device of an alternative stepper robot as defined in claim 2, wherein: the height of the lower end surfaces of the main cam concave part (601) and the auxiliary cam concave part (602) close to one side of the rotating cylinder (2) is higher than that of the lower end surface of the main cam concave part and the auxiliary cam concave part far away from the other side of the rotating cylinder (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811122007.5A CN110948511B (en) | 2018-09-26 | 2018-09-26 | Alternative marching type robot feedway |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811122007.5A CN110948511B (en) | 2018-09-26 | 2018-09-26 | Alternative marching type robot feedway |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110948511A CN110948511A (en) | 2020-04-03 |
| CN110948511B true CN110948511B (en) | 2022-07-26 |
Family
ID=69962218
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811122007.5A Active CN110948511B (en) | 2018-09-26 | 2018-09-26 | Alternative marching type robot feedway |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110948511B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05285879A (en) * | 1992-04-15 | 1993-11-02 | Mitsubishi Heavy Ind Ltd | Two-degree of freedom actuator |
| CN1418056A (en) * | 2001-10-29 | 2003-05-14 | 株式会社爱科技 | Workpiece conveying robot |
| CN101623864A (en) * | 2009-08-13 | 2010-01-13 | 天津大学 | Force feedback type master manipulator with deadweight balance property |
| CN201998175U (en) * | 2010-12-15 | 2011-10-05 | 沈阳新松机器人自动化股份有限公司 | Planar articulated robot arm component |
| CN102380868A (en) * | 2011-11-09 | 2012-03-21 | 广东工业大学 | Two-dimensional-translation one-dimensional-rotation three-degree-of-freedom mechanical arm |
| WO2017188851A1 (en) * | 2016-04-29 | 2017-11-02 | Общество С Ограниченной Ответственностью "Мроботикс" | End effector with an articulated joint and actuator of an endoscopic surgical device |
-
2018
- 2018-09-26 CN CN201811122007.5A patent/CN110948511B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05285879A (en) * | 1992-04-15 | 1993-11-02 | Mitsubishi Heavy Ind Ltd | Two-degree of freedom actuator |
| CN1418056A (en) * | 2001-10-29 | 2003-05-14 | 株式会社爱科技 | Workpiece conveying robot |
| CN101623864A (en) * | 2009-08-13 | 2010-01-13 | 天津大学 | Force feedback type master manipulator with deadweight balance property |
| CN201998175U (en) * | 2010-12-15 | 2011-10-05 | 沈阳新松机器人自动化股份有限公司 | Planar articulated robot arm component |
| CN102380868A (en) * | 2011-11-09 | 2012-03-21 | 广东工业大学 | Two-dimensional-translation one-dimensional-rotation three-degree-of-freedom mechanical arm |
| WO2017188851A1 (en) * | 2016-04-29 | 2017-11-02 | Общество С Ограниченной Ответственностью "Мроботикс" | End effector with an articulated joint and actuator of an endoscopic surgical device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110948511A (en) | 2020-04-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2020125044A1 (en) | Four degrees of freedom parallel robot provided with dual moving platform structure | |
| CN101659059B (en) | Three-translating and one-rotating parallel robot mechanism | |
| JP5847393B2 (en) | Transfer robot | |
| CN109531556B (en) | Four-freedom-degree cylindrical coordinate parallel robot | |
| CN108621128A (en) | A kind of a wide range of mobile machining robot positioned and posture is adjusted flexibly | |
| CN108621114A (en) | A kind of mobile robot towards large-sized structural parts processing | |
| JP2008272883A (en) | Double-arm type robot manipulator | |
| KR101935144B1 (en) | Robot arm equipped with counterbalance mechanism | |
| CN108608407A (en) | A kind of multi-shaft interlocked robot of telescopic formula | |
| CN105082110A (en) | Redundant actuation type three-freedom-degree stable platform | |
| CN110948511B (en) | Alternative marching type robot feedway | |
| CN1178769C (en) | Four-freedom spatial parallel robot mechanism | |
| KR101480346B1 (en) | gravity compensation device of vertical articulated robot with a parallel link structure | |
| CN110394777B (en) | Multi-degree-of-freedom parallel grabbing robot for model recovery | |
| CN110948518B (en) | Material receiving and sending device for cleaning robot | |
| CN110181484B (en) | Robot combined in series-parallel | |
| CN108608401A (en) | A kind of rail mounted large span telescopic machining robot | |
| CN110948512B (en) | Tilt-swing compensation type direct-drive vacuum robot | |
| CN206551011U (en) | A kind of six-freedom parallel device based on crawl parallel institution | |
| CN205466315U (en) | Arm booster unit of robot | |
| CN101530969B (en) | Redundancy actuating mechanism with dynamic stability | |
| CN203210376U (en) | Parallel robot and parallelogram rod group thereof | |
| CN206551012U (en) | A kind of six-degree-of-freedom parallel connection mechanism based on differential driving structure | |
| CN106695766B (en) | Six-degree-of-freedom parallel device based on grabbing parallel mechanism | |
| CN110948517A (en) | Non-equidistant feeding device for robots |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |